Train coasting protection method and system, and computer storage medium

Abstract

The application provides a train coasting protection method, system and computer storage medium, and belongs to the technical field of rail transit operation control, and solves the limitation problem of the existing coasting prevention scheme. The method comprises the following steps: S1, calculating the coasting protection speed of the train; S2, determining the coasting gradient threshold of the train; S3, periodically estimating the possible parking position of the train; S4, judging whether the train will coast when parking according to the estimated parking position; and S5, if it is judged that the train will coast, then applying emergency braking before the train parks. The coasting protection speed is evaluated, the coasting gradient threshold is obtained in a measured manner, and the parking position is estimated according to the current train position and speed. If the parking position has a possible coasting gradient, emergency braking is applied in advance to prevent coasting. Therefore, the application can eliminate the phenomenon of increased train tracking distance, make the space interval of trains on the line smaller, improve the overall transportation capacity of the line, and bring greater economic benefits.

Description

Technical Field

[0001] This invention belongs to the field of rail transit operation control technology, specifically a train runaway protection method, system, and computer storage medium. Background Technology

[0002] In traditional rail transit train operation control systems, how to reduce the train tracking distance and improve train operation efficiency and line transport capacity has always been a key research direction; however, this research inevitably faces the problem of train runaway.

[0003] The existing technical solutions for preventing train derailment are as follows:

[0004] 1. When the train stops, mechanical devices are used to prevent the train from rolling away;

[0005] 2. When mechanical devices fail and the train derails, the signal system can detect the derailment and actively apply emergency braking after detecting it to ensure that the train does not continue to derail.

[0006] 3. In order to ensure that there is no risk of collision after a train derails, a derailment protection distance needs to be reserved in advance when the train is tracking each other or between a train and an obstacle on the track. The size of the derailment protection distance is related to the stopping distance after the signal system detects the train derailment and applies emergency braking.

[0007] It is evident that existing technical solutions can be summarized into two key points: mechanical anti-runaway devices and signal system anti-runaway methods; however, each has the following drawbacks:

[0008] 1) Mechanical anti-runaway device: This device mainly protects against runaway when the train is already stopped, but cannot protect against runaway that may occur when the train is starting; the system that triggers the mechanical anti-runaway device has a low safety level and there are situations where the protective function cannot be triggered normally.

[0009] 2) Signal system anti-runaway method: This method requires reserving a "runaway protection distance" in advance to ensure that the current train will not collide with other trains / obstacles after a runaway occurs. This will increase the tracking interval between trains, reduce the number of trains on the line, and reduce the line's transport capacity. Summary of the Invention

[0010] To address the limitations of existing anti-runaway solutions, this invention proposes a new runaway protection method based on the original train signaling system. This method can eliminate the increased train tracking distance caused by runaway and reduce the spatial spacing between trains on the line, thereby improving the overall transport capacity of the line while ensuring safety and bringing greater economic benefits.

[0011] The present invention employs the following technical solutions to achieve its objective:

[0012] A method for preventing train runaway, the method comprising the following steps:

[0013] S1. Calculate the runaway protection speed of the train;

[0014] S2. Determine the train's runoff gradient threshold;

[0015] S3. Periodically estimate the possible stopping locations of the train;

[0016] S4. Based on the estimated stopping position, determine whether the train will roll away when it stops;

[0017] S5. If it is determined that the train will run away, apply emergency braking before stopping the train.

[0018] Furthermore, in step S1, the calculation process for the runaway protection speed is as follows:

[0019] S11. Determine the maximum delay t 溜 Maximum delay t 溜 The time interval between the signal system outputting emergency braking and the train applying emergency braking;

[0020] S12. Based on the current vehicle performance, obtain the train's maximum service braking value Acc. 溜 ;

[0021] S13, runaway protection speed V 溜 The calculation formula is: V 溜 =Acc 溜 *t 溜 .

[0022] Specifically, in step S2, the process of determining the runaway gradient threshold is as follows: Before the line is opened to traffic, the gradient of the entire line is measured on-site; based on the performance parameters of different train models, the minimum gradient value at which runaway will occur for each type of train is determined, which serves as the runaway gradient threshold Grad. 溜 .

[0023] Furthermore, in step S3, the possible stopping positions of the train are periodically estimated. The process is as follows: when the train speed is less than the runaway protection speed V... 溜 At that time, based on the train's current position, speed, and track gradient information, the forward running and stopping distance L of the train's rear is calculated. T The stopping distance L when the car is moving forward H According to L T and L H The value is used to obtain the train's stopping position, Pos.

[0024] Preferably, the stopping distance L when the vehicle is moving forward is... H The calculation method is as follows: LH = Slowest emergency braking distance calculated at the current speed + Maximum travel distance from the current moment to the next signal system cycle.

[0025] Preferably, the stopping distance L when the rear of the vehicle moves forward is... T The calculation method is as follows: L T = The fastest emergency braking distance calculated at the current speed; the estimated stopping position Pos is longer than the actual length of the current train.

[0026] Furthermore, in step S4, determining whether the train will roll away when it stops involves: querying the track gradient θ at the train's stopping position Pos; if the track gradient θ > the current train's rollaway gradient threshold Grad... 溜 If the value is positive, it is determined that the car will roll away; otherwise, it is determined that the car will not roll away.

[0027] Specifically, in step S5, when it is determined that the vehicle will roll away, emergency braking is applied in advance through the signal system; when it is determined that the vehicle will not roll away, emergency braking is not applied, and the parking position Pos is estimated for the subsequent cycle.

[0028] This invention also provides a train runaway protection system, the system comprising: a runaway protection speed calculation module, a runaway gradient threshold determination module, a stopping position estimation module, and a runaway judgment and processing module;

[0029] The runaway protection speed calculation module is used to calculate the runaway protection speed V. 溜 ;

[0030] The rollaway slope threshold determination module is used to determine the rollaway slope threshold Grad. 溜 ;

[0031] The parking position estimation module is used to calculate the parking distance L that the rear of the vehicle travels forward to reach the parking spot. T The distance l between the front of the car and the parking distance H And based on L T and L H The value determines the train's stopping position, Pos.

[0032] The slippage determination and processing module is used to determine the slippage gradient threshold Grad. 溜 The system uses the stop position Pos to determine whether the train is likely to run away; and if it is determined that runaway is likely, it applies emergency braking in advance through the signal system.

[0033] The present invention also provides a computer storage medium, characterized in that: the computer storage medium stores computer program instructions, which, when executed by a processor, implement the train runaway prevention method described above.

[0034] In summary, due to the adoption of this technical solution, the beneficial effects of this invention are as follows:

[0035] This invention assesses the train's runaway protection speed in advance, obtains the runaway slope threshold experimentally, and estimates the train's possible stopping position based on the current train position and speed. If the stopping position has a slope that could cause runaway, emergency braking is applied in advance to prevent runaway.

[0036] As can be seen, the present invention eliminates the minimum train tracking distance caused by the runaway protection, making the train tracking distance smaller than the existing solution; at the same time, the present invention supports the operation of the virtual train formation mode, which requires the running distance between the two cars to be very small, and the extreme tracking distance can be 0. Therefore, the present invention is applicable to the runaway protection of virtual train formation in this scenario. Attached Figure Description

[0037] Figure 1 This is a schematic flowchart of the method of the present invention;

[0038] Figure 2 A diagram illustrating the minimum tracking distance to prevent vehicle slippage;

[0039] Figure 3 A schematic diagram for determining the train's runaway gradient threshold;

[0040] Figure 4 A schematic diagram for estimating the stopping position of the train;

[0041] Figure 5 A diagram illustrating the slope of a parking location. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0043] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0044] Example 1

[0045] To better illustrate this application, Figure 2The diagram illustrates the minimum tracking distance in existing technologies to demonstrate the shortcomings of existing signaling systems in preventing runaway trains. It shows that a "runaway protection distance" needs to be reserved to ensure that a runaway train will not collide with other trains or obstacles. The increased tracking distance reduces the number of trains on the line, thereby reducing the line's transport capacity.

[0046] This embodiment proposes a novel method: a train runaway protection method, the overall process of which can be found in [reference needed]. Figure 1 The following is an example, with a detailed explanation of each step.

[0047] 1. Calculate the train's runaway protection speed.

[0048] S11. Determine the maximum delay t 溜 Maximum delay t 溜 The time interval between the signal system outputting emergency braking and the train applying emergency braking;

[0049] S12. Based on the current vehicle performance, obtain the train's maximum service braking value Acc. 溜 ;

[0050] S13, runaway protection speed V 溜 The calculation formula is: V 溜 =Acc 溜 *t 溜 .

[0051] 2. Determine the train's runoff gradient threshold.

[0052] like Figure 3 As shown, before the line was opened for operation, the gradient of the entire line was measured on-site. Based on the performance parameters of different train models, the minimum gradient value at which each type of train would slip off was determined as the slip-off gradient threshold Grad. 溜 .

[0053] III. Periodic estimation of possible train stopping locations.

[0054] When the train speed is less than the runaway protection speed V 溜 At that time, based on the train's current position, speed, and track gradient information, the forward stopping distance l of the rear of the train is calculated. T The distance l between the front of the car and the parking distance H According to l T and l H The value is used to obtain the train's stopping position, Pos. This can be viewed simultaneously. Figure 4 The illustration.

[0055] As a preferred embodiment, the stopping distance L when the vehicle moves forward is... H The calculation method is as follows: l H= Slowest emergency braking distance calculated at the current speed + Maximum travel distance from the current moment to the next signal system cycle.

[0056] Similarly, the preferred option is to stop the vehicle at a distance L from the rear of the car moving forward. T The calculation method is as follows: L T =The fastest emergency braking distance calculated at the current speed; the estimated stopping position Pos length is greater than the actual length of the current train. This setting can fully cover the possible stopping position area in the direction of train travel, and the runaway judgment based on the gradient value will be more accurate.

[0057] Fourth, based on the estimated stopping position, determine whether the train will roll away when it stops.

[0058] To find the track gradient θ at the train's stopping position Pos, e.g. Figure 5 As shown; if the track gradient θ > the current train's runaway gradient threshold Grad 溜 If the value is positive, it is determined that the car will roll away; otherwise, it is determined that the car will not roll away.

[0059] V. The process of handling each case after judgment.

[0060] When it is determined that a runaway train will occur, emergency braking is applied in advance through the signaling system to ensure that the train will not runaway after stopping; when it is determined that a runaway train will not occur, emergency braking is not applied, and the stopping position Pos is estimated for the subsequent cycle.

[0061] The method in this embodiment improves upon the limitations of existing signaling systems through the above steps, thereby reducing the train tracking distance on the line; this method can be applied to train control systems of various architectures, such as communication-based (train-to-train communication) train control systems.

[0062] Example 2

[0063] Based on Embodiment 1, this embodiment provides a train runaway protection system. The system can implement the train runaway protection method in Embodiment 1, including: a runaway protection speed calculation module, a runaway slope threshold determination module, a stopping position estimation module, and a runaway judgment and processing module.

[0064] The runaway protection speed calculation module is used to calculate the runaway protection speed V. 溜 ;

[0065] The rollaway slope threshold determination module is used to determine the rollaway slope threshold Grad. 溜 ;

[0066] The parking position estimation module is used to calculate the parking distance L that the rear of the vehicle needs to travel forward. T The stopping distance L when the car is moving forward HAnd based on L T and L H The value determines the train's stopping position, Pos.

[0067] The slippage detection and processing module is used to determine the slippage gradient threshold Grad. 溜 The system uses the stop position Pos to determine whether the train is likely to run away; and if it is determined that runaway is likely, it applies emergency braking in advance through the signal system.

[0068] Example 3

[0069] Based on the above embodiments, this embodiment provides a computer storage medium storing computer program instructions. When the computer program instructions are executed by a processor, they implement the relevant steps, processes, and functions of the method in Embodiment 1 or the system in Embodiment 2.

[0070] Those skilled in the art will understand that this embodiment can be provided as a storage medium supporting a method, apparatus, or computer program product; therefore, it can be implemented entirely in hardware, entirely in software, or in a combination of software and hardware aspects; moreover, this embodiment can be implemented as a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

Claims

1. A method for preventing train runaway, characterized in that, The method includes the following steps: S1. Calculate the train's runaway protection speed: S11. Determine the maximum delay. Maximum delay The time interval between the signal system outputting emergency braking and the train applying emergency braking; S12. Based on the current vehicle performance, obtain the train's maximum service braking value. ; S13, runaway protection speed The calculation formula is: ; S2. Determine the train's runoff gradient threshold; S3. Periodically estimate the possible stopping locations of the train: When the train speed is less than the runaway protection speed At that time, based on the train's current position, speed, and track gradient information, the stopping distance of the rear of the train is calculated. Parking distance and the front of the car moving forward ;in accordance with and The value is used to determine the train's stopping position. ; The car moves forward and stops at a distance. The calculation method is as follows: The slowest emergency braking distance calculated at the current speed + the maximum travel distance from the current moment to the next signal system cycle; The rear of the car moves forward to stop the distance The calculation method is as follows: The fastest emergency braking distance calculated at the current speed; Estimated parking locations The length is greater than the actual length of the current train; S4. Based on the estimated stopping position, determine whether the train will roll away when it stops; S5. If it is determined that the train will run away, apply emergency braking before stopping the train.

2. The train runaway protection method according to claim 1, characterized in that: In step S2, the process of determining the runaway gradient threshold is as follows: Before the line is opened to traffic, the gradient of the entire line is measured on-site; based on the performance parameters of different train models, the minimum gradient value at which runaway will occur for each type of train is determined, which serves as the runaway gradient threshold. .

3. The train runaway protection method according to claim 1, characterized in that: In step S4, determining whether the train will roll away when it stops involves querying the train's stopping position. Line gradient value at the location If the gradient of the line is Current train runaway gradient threshold If the value is positive, it is determined that the car will roll away; otherwise, it is determined that the car will not roll away.

4. The train runaway protection method according to claim 3, characterized in that: In step S5, when it is determined that the vehicle will roll backward, emergency braking is applied in advance via the signal system; when it is determined that the vehicle will not roll backward, emergency braking is not applied, and the vehicle proceeds to the parking position for the subsequent cycle. Estimate.

5. A train runaway protection system implementing the method of claim 1, characterized in that, The system includes: a runaway protection speed calculation module, a runaway slope threshold determination module, a parking position estimation module, and a runaway judgment and processing module; The runaway protection speed calculation module is used to calculate the runaway protection speed. ; The rollaway slope threshold determination module is used to determine the rollaway slope threshold. ; The parking position estimation module is used to calculate the parking distance the rear of the vehicle travels forward. Parking distance and the front of the car moving forward and based on and Value, to determine the stopping position of the train. ; The slippage detection and processing module is used to determine the slippage gradient threshold. and parking location The system determines whether the train will slip; and if it determines that slippage will occur, it applies emergency braking in advance through the signal system.

6. A computer storage medium, characterized in that: The computer storage medium stores computer program instructions, which, when executed by a processor, implement the train runaway prevention method as described in any one of claims 1 to 4.

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